抄録
We propose a proximity and tactile sensing method (3D tactile sensing method) using self-capacitance measurement. The proposed sensor consists of the two electrodes (E_1, E_2). The capacitance between E_1 or E_2 and GND is measured by switching between E_1 and E_2. The capacitance between E_1 and GND is used to detect the object before contact (proximity range) and to discriminate the material on contact. In addition, the capacitance between E_2 and GND (E_1) is used to detect the indentation on contact. Thus, the sensor can detect object both before and after contact (3D range). This technique may be applicable to proximity and tactile sensor for robot.
